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A Common Framework for Complete and Incomplete Attitude Synchronization in Networks With Switching Topology.
- Source :
-
IEEE Transactions on Automatic Control . Jan2020, Vol. 65 Issue 1, p271-278. 8p. - Publication Year :
- 2020
-
Abstract
- In this paper, we study attitude synchronization for elements in the unit sphere in $\mathbb {R}^{\scriptscriptstyle {\scriptscriptstyle {3}}}$ and for elements in the three-dimensional (3-D) rotation group, for a network with switching topology. The agents’ angular velocities are assumed to be the control inputs, and a switching control law for each agent is devised that guarantees synchronization, provided that all elements are initially contained in a region, which we identify later in the paper. The control law is decentralized and it does not require a common orientation frame among all agents. We refer to synchronization of unit vectors in $\mathbb {R}^{\scriptscriptstyle {3}}$ as incomplete synchronization, and of 3-D rotation matrices as complete synchronization. Our main contribution lies in showing that these two problems can be analyzed under a common framework, where all agents’ dynamics are transformed into unit vectors dynamics on a sphere of appropriate dimension. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 65
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 141052550
- Full Text :
- https://doi.org/10.1109/TAC.2019.2912531